Design of Robotic System for Inspection, Maintenance and Repair of LNG Cargo Tank

THIS paper describes a robotic system that enables workers to access the inner wall of LNG cargo tank without scaffold. With the proposed arm, it is possible to reduce the cost and time in IMR job of LNG cargo tank. Since it does not contact of any part of the inner wall except the working area, there is no possibility to harm the inner wall during IMR task. This work also made a modification of the proposed robotic arm for FLNG that has space limitation on the top side. The original design is modified to the slim and modularized version with zipper action link structure. It can be installed from the upper deck of FLNG with limited space.